Moveit core python tutorials #624
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Things to be aware of:
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@PeterMitrano we (hopefully) fixed the links in this independent PR, so your patches do not apply anymore. Could you please clean up this PR? |
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Seems the python docs are still not being generated. |
| # but this method of instantiation is only intended for illustration. | ||
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| urdf_path = "/opt/ros/noetic/share/moveit_resources_panda_description/urdf/panda.urdf" | ||
| srdf_path = "/opt/ros/noetic/share/moveit_resources_panda_moveit_config/config/panda.srdf" |
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This is a brittle way to load resoruces in ROS. Use the resource_load (I think that's the name) to resolve package names, without hard coding paths to someone's specific computer
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do you mean this? http://wiki.ros.org/resource_retriever
or just the rospkg python API? I think rospkg would work fine, assuming the person has the moveit_resources_panda_* packages available
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note to self this PR is currently pending on resolving the issues mentioned in moveit/moveit#2606 |
| # on the end-effector of the panda_arm group of the Panda robot. Note the | ||
| # use of convenience functions for filling up the constraints | ||
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| end_effector_name = joint_model_group.getLinkModelNames()[-1] |
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Is there a way to explicitly get the end effector link name from the robot model, instead of implicitly finding it as the last entry in the list of all links?
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that would be nice, alas there aren't bindings for that yet.
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I was able to build and run this, with some extra imports. It looks good and is informative.
Some of the tutorial comment blocks have very uneven line lengths--I'd recommend adjusting them to be more regular (there's probably a tool that will do this for you).
Co-authored-by: Joseph Schornak <[email protected]>
Co-authored-by: John Stechschulte <[email protected]>
Co-authored-by: John Stechschulte <[email protected]>
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Did a rebase, sorry if that messed up the review. This PR is still blocked by issues mentioned in moveit/moveit#2606 |
Co-authored-by: John Stechschulte <[email protected]>
Co-authored-by: John Stechschulte <[email protected]>
Description
Add tutorials for the new python interface to moveit_core. This is adapted from the C++ planning scene tutorial
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